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geo_lookup: move tables to separate file
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@dagar
dagar committed Jun 22, 2020
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73 changes: 6 additions & 67 deletions geo_lookup/geo_mag_declination.cpp
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Expand Up @@ -44,76 +44,16 @@

#include "geo_mag_declination.h"

#include "geo_magnetic_tables.hpp"

#include <mathlib/mathlib.h>

#include <math.h>
#include <stdint.h>

using math::constrain;

/** set this always to the sampling in degrees for the table below */
static constexpr float SAMPLING_RES = 10.0f;
static constexpr float SAMPLING_MIN_LAT = -60.0f;
static constexpr float SAMPLING_MAX_LAT = 60.0f;
static constexpr float SAMPLING_MIN_LON = -180.0f;
static constexpr float SAMPLING_MAX_LON = 180.0f;

// declination data in degrees
static constexpr const int8_t declination_table[13][37] = \
{
{ 47,46,45,43,42,41,39,37,33,29,23,16,10,4,-1,-6,-10,-15,-20,-27,-34,-42,-49,-56,-62,-67,-72,-74,-75,-73,-61,-22,26,42,47,48,47 },
{ 31,31,31,30,30,30,30,29,27,24,18,11,3,-4,-9,-13,-15,-18,-21,-27,-33,-40,-47,-52,-56,-57,-56,-52,-44,-30,-14,2,14,22,27,30,31 },
{ 22,23,23,23,22,22,22,23,22,19,13,5,-4,-12,-17,-20,-22,-22,-23,-25,-30,-36,-41,-45,-46,-44,-39,-31,-21,-11,-3,4,10,15,19,21,22 },
{ 17,17,17,18,17,17,17,17,16,13,8,-1,-10,-18,-22,-25,-26,-25,-22,-20,-21,-25,-29,-32,-31,-28,-23,-16,-9,-3,0,4,7,11,14,16,17 },
{ 13,13,14,14,14,13,13,12,11,9,3,-5,-14,-20,-24,-25,-24,-21,-17,-12,-9,-11,-14,-17,-18,-16,-12,-8,-3,-0,1,3,6,8,11,12,13 },
{ 11,11,11,11,11,10,10,10,9,6,-0,-8,-15,-21,-23,-22,-19,-15,-10,-5,-2,-2,-4,-7,-9,-8,-7,-4,-1,1,1,2,4,7,9,10,11 },
{ 10,9,9,9,9,9,9,8,7,3,-3,-10,-16,-20,-20,-18,-14,-9,-5,-2,1,2,0,-2,-4,-4,-3,-2,-0,0,0,1,3,5,7,9,10 },
{ 9,9,9,9,9,9,9,8,6,1,-4,-11,-16,-18,-17,-14,-10,-5,-2,-0,2,3,2,0,-1,-2,-2,-1,-0,-1,-1,-1,1,3,6,8,9 },
{ 8,9,9,10,10,10,10,8,5,0,-6,-12,-15,-16,-15,-11,-7,-4,-1,1,3,4,3,2,1,0,-0,-0,-1,-2,-3,-4,-2,0,3,6,8 },
{ 7,9,10,11,12,12,12,9,5,-1,-7,-13,-15,-15,-13,-10,-6,-3,0,2,3,4,4,4,3,2,1,0,-1,-3,-5,-6,-6,-3,0,4,7 },
{ 5,8,11,13,14,15,14,11,5,-2,-9,-15,-17,-16,-13,-10,-6,-3,0,3,4,5,6,6,6,5,4,2,-1,-5,-8,-9,-9,-6,-3,1,5 },
{ 3,8,11,15,17,17,16,12,5,-4,-12,-18,-19,-18,-16,-12,-8,-4,-0,3,5,7,9,10,10,9,7,4,-1,-6,-10,-12,-12,-9,-5,-1,3 },
{ 3,8,12,16,19,20,18,13,4,-8,-18,-24,-25,-23,-20,-16,-11,-6,-1,3,7,11,14,16,17,17,14,8,-0,-8,-13,-15,-14,-11,-7,-2,3 },
};

// inclination data in degrees
static constexpr const int8_t inclination_table[13][37] = \
{
{ -78,-76,-74,-72,-70,-68,-65,-63,-60,-57,-55,-54,-54,-55,-56,-57,-58,-59,-59,-59,-59,-60,-61,-63,-66,-69,-73,-76,-79,-83,-86,-87,-86,-84,-82,-80,-78 },
{ -72,-70,-68,-66,-64,-62,-60,-57,-54,-51,-49,-48,-49,-51,-55,-58,-60,-61,-61,-61,-60,-60,-61,-63,-66,-69,-72,-76,-78,-80,-81,-80,-79,-77,-76,-74,-72 },
{ -64,-62,-60,-59,-57,-55,-53,-50,-47,-44,-41,-41,-43,-47,-53,-58,-62,-65,-66,-65,-63,-62,-61,-63,-65,-68,-71,-73,-74,-74,-73,-72,-71,-70,-68,-66,-64 },
{ -55,-53,-51,-49,-46,-44,-42,-40,-37,-33,-30,-30,-34,-41,-48,-55,-60,-65,-67,-68,-66,-63,-61,-61,-62,-64,-65,-66,-66,-65,-64,-63,-62,-61,-59,-57,-55 },
{ -42,-40,-37,-35,-33,-30,-28,-25,-22,-18,-15,-16,-22,-31,-40,-48,-55,-59,-62,-63,-61,-58,-55,-53,-53,-54,-55,-55,-54,-53,-51,-51,-50,-49,-47,-45,-42 },
{ -25,-22,-20,-17,-15,-12,-10,-7,-3,1,3,2,-5,-16,-27,-37,-44,-48,-50,-50,-48,-44,-41,-38,-38,-38,-39,-39,-38,-37,-36,-35,-35,-34,-31,-28,-25 },
{ -5,-2,1,3,5,8,10,13,16,20,21,19,12,2,-10,-20,-27,-30,-30,-29,-27,-23,-19,-17,-17,-17,-18,-18,-17,-16,-16,-16,-16,-15,-12,-9,-5 },
{ 15,18,21,22,24,26,29,31,34,36,37,34,28,20,10,2,-3,-5,-5,-4,-2,2,5,7,8,7,7,6,7,7,7,6,5,6,8,11,15 },
{ 31,34,36,38,39,41,43,46,48,49,49,46,42,36,29,24,20,19,20,21,23,25,28,30,30,30,29,29,29,29,28,27,25,25,26,28,31 },
{ 43,45,47,49,51,53,55,57,58,59,59,56,53,49,45,42,40,40,40,41,43,44,46,47,47,47,47,47,47,47,46,44,42,41,40,42,43 },
{ 53,54,56,57,59,61,64,66,67,68,67,65,62,60,57,55,55,54,55,56,57,58,59,59,60,60,60,60,60,60,59,57,55,53,52,52,53 },
{ 62,63,64,65,67,69,71,73,75,75,74,73,70,68,67,66,65,65,65,66,66,67,68,68,69,70,70,71,71,70,69,67,65,63,62,62,62 },
{ 71,71,72,73,75,77,78,80,81,81,80,79,77,76,74,73,73,73,73,73,73,74,74,75,76,77,78,78,78,78,77,75,73,72,71,71,71 },
};

// strength data in micro-Tesla or centi-Gauss
static constexpr const int8_t strength_table[13][37] = \
{
{ 62,60,58,56,54,52,49,46,43,41,38,36,34,32,31,31,30,30,30,31,33,35,38,42,46,51,55,59,62,64,66,67,67,66,65,64,62 },
{ 59,56,54,52,50,47,44,41,38,35,32,29,28,27,26,26,26,25,25,26,28,30,34,39,44,49,54,58,61,64,65,66,65,64,63,61,59 },
{ 54,52,49,47,45,42,40,37,34,30,27,25,24,24,24,24,24,24,24,24,25,28,32,37,42,48,52,56,59,61,62,62,62,60,59,56,54 },
{ 49,47,44,42,40,37,35,33,30,28,25,23,22,23,23,24,25,25,26,26,26,28,31,36,41,46,51,54,56,57,57,57,56,55,53,51,49 },
{ 43,41,39,37,35,33,32,30,28,26,25,23,23,23,24,25,26,28,29,29,29,30,32,36,40,44,48,51,52,52,51,51,50,49,47,45,43 },
{ 38,36,35,33,32,31,30,29,28,27,26,25,24,24,25,26,28,30,31,32,32,32,33,35,38,42,44,46,47,46,45,45,44,43,41,40,38 },
{ 34,33,32,32,31,31,31,30,30,30,29,28,27,27,27,28,29,31,32,33,33,33,34,35,37,39,41,42,43,42,41,40,39,38,36,35,34 },
{ 33,33,32,32,33,33,34,34,35,35,34,33,32,31,30,30,31,32,33,34,35,35,36,37,38,40,41,42,42,41,40,39,37,36,34,33,33 },
{ 34,34,34,35,36,37,39,40,41,41,40,39,37,35,35,34,35,35,36,37,38,39,40,41,42,43,44,45,45,45,43,41,39,37,35,34,34 },
{ 37,37,38,39,41,42,44,46,47,47,46,45,43,41,40,39,39,40,41,41,42,43,45,46,47,48,49,50,50,50,48,46,43,41,39,38,37 },
{ 42,42,43,44,46,48,50,52,53,53,52,51,49,47,45,45,44,44,45,46,46,47,48,50,51,53,54,55,56,55,54,52,49,46,44,43,42 },
{ 48,48,49,50,52,53,55,56,57,57,56,55,53,51,50,49,48,48,48,49,49,50,51,53,55,56,58,59,60,60,58,56,54,52,50,49,48 },
{ 54,54,54,55,56,57,58,58,59,58,58,57,56,54,53,52,51,51,51,51,52,53,54,55,57,58,60,61,62,61,61,59,58,56,55,54,54 },
};

static unsigned
get_lookup_table_index(float *val, float min, float max)
static constexpr unsigned get_lookup_table_index(float *val, float min, float max)
{
/* for the rare case of hitting the bounds exactly
* the rounding logic wouldn't fit, so enforce it.
Expand All @@ -126,8 +66,7 @@ get_lookup_table_index(float *val, float min, float max)
return static_cast<unsigned>((-(min) + *val) / SAMPLING_RES);
}

static float
get_table_data(float lat, float lon, const int8_t table[13][37])
static constexpr float get_table_data(float lat, float lon, const int8_t table[LAT_DIM][LON_DIM])
{
/*
* If the values exceed valid ranges, return zero as default
Expand All @@ -153,8 +92,8 @@ get_table_data(float lat, float lon, const int8_t table[13][37])
const float data_nw = table[min_lat_index + 1][min_lon_index];

/* perform bilinear interpolation on the four grid corners */
const float lat_scale = constrain((lat - min_lat) / SAMPLING_RES, 0.0f, 1.0f);
const float lon_scale = constrain((lon - min_lon) / SAMPLING_RES, 0.0f, 1.0f);
const float lat_scale = constrain((lat - min_lat) / SAMPLING_RES, 0.f, 1.f);
const float lon_scale = constrain((lon - min_lon) / SAMPLING_RES, 0.f, 1.f);

const float data_min = lon_scale * (data_se - data_sw) + data_sw;
const float data_max = lon_scale * (data_ne - data_nw) + data_nw;
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91 changes: 91 additions & 0 deletions geo_lookup/geo_magnetic_tables.hpp
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@@ -0,0 +1,91 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/

static constexpr float SAMPLING_RES = 10.0f;
static constexpr float SAMPLING_MIN_LAT = -60.0f;
static constexpr float SAMPLING_MAX_LAT = 60.0f;
static constexpr float SAMPLING_MIN_LON = -180.0f;
static constexpr float SAMPLING_MAX_LON = 180.0f;

static constexpr int LAT_DIM = 13;
static constexpr int LON_DIM = 37;

static constexpr const int8_t declination_table[LAT_DIM][LON_DIM] {
{ 47, 46, 45, 43, 42, 41, 39, 37, 33, 29, 23, 16, 10, 4, -1, -6, -10, -15, -20, -27, -34, -42, -49, -56, -62, -67, -72, -74, -75, -73, -61, -22, 26, 42, 47, 48, 47 },
{ 31, 31, 31, 30, 30, 30, 30, 29, 27, 24, 18, 11, 3, -4, -9, -13, -15, -18, -21, -27, -33, -40, -47, -52, -56, -57, -56, -52, -44, -30, -14, 2, 14, 22, 27, 30, 31 },
{ 22, 23, 23, 23, 22, 22, 22, 23, 22, 19, 13, 5, -4, -12, -17, -20, -22, -22, -23, -25, -30, -36, -41, -45, -46, -44, -39, -31, -21, -11, -3, 4, 10, 15, 19, 21, 22 },
{ 17, 17, 17, 18, 17, 17, 17, 17, 16, 13, 8, -1, -10, -18, -22, -25, -26, -25, -22, -20, -21, -25, -29, -32, -31, -28, -23, -16, -9, -3, 0, 4, 7, 11, 14, 16, 17 },
{ 13, 13, 14, 14, 14, 13, 13, 12, 11, 9, 3, -5, -14, -20, -24, -25, -24, -21, -17, -12, -9, -11, -14, -17, -18, -16, -12, -8, -3, -0, 1, 3, 6, 8, 11, 12, 13 },
{ 11, 11, 11, 11, 11, 10, 10, 10, 9, 6, -0, -8, -15, -21, -23, -22, -19, -15, -10, -5, -2, -2, -4, -7, -9, -8, -7, -4, -1, 1, 1, 2, 4, 7, 9, 10, 11 },
{ 10, 9, 9, 9, 9, 9, 9, 8, 7, 3, -3, -10, -16, -20, -20, -18, -14, -9, -5, -2, 1, 2, 0, -2, -4, -4, -3, -2, -0, 0, 0, 1, 3, 5, 7, 9, 10 },
{ 9, 9, 9, 9, 9, 9, 9, 8, 6, 1, -4, -11, -16, -18, -17, -14, -10, -5, -2, -0, 2, 3, 2, 0, -1, -2, -2, -1, -0, -1, -1, -1, 1, 3, 6, 8, 9 },
{ 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -6, -12, -15, -16, -15, -11, -7, -4, -1, 1, 3, 4, 3, 2, 1, 0, -0, -0, -1, -2, -3, -4, -2, 0, 3, 6, 8 },
{ 7, 9, 10, 11, 12, 12, 12, 9, 5, -1, -7, -13, -15, -15, -13, -10, -6, -3, 0, 2, 3, 4, 4, 4, 3, 2, 1, 0, -1, -3, -5, -6, -6, -3, 0, 4, 7 },
{ 5, 8, 11, 13, 14, 15, 14, 11, 5, -2, -9, -15, -17, -16, -13, -10, -6, -3, 0, 3, 4, 5, 6, 6, 6, 5, 4, 2, -1, -5, -8, -9, -9, -6, -3, 1, 5 },
{ 3, 8, 11, 15, 17, 17, 16, 12, 5, -4, -12, -18, -19, -18, -16, -12, -8, -4, -0, 3, 5, 7, 9, 10, 10, 9, 7, 4, -1, -6, -10, -12, -12, -9, -5, -1, 3 },
{ 3, 8, 12, 16, 19, 20, 18, 13, 4, -8, -18, -24, -25, -23, -20, -16, -11, -6, -1, 3, 7, 11, 14, 16, 17, 17, 14, 8, -0, -8, -13, -15, -14, -11, -7, -2, 3 },
};

// Magnetic inclination data in degrees
static constexpr const int8_t inclination_table[LAT_DIM][LON_DIM] {
{ -78, -76, -74, -72, -70, -68, -65, -63, -60, -57, -55, -54, -54, -55, -56, -57, -58, -59, -59, -59, -59, -60, -61, -63, -66, -69, -73, -76, -79, -83, -86, -87, -86, -84, -82, -80, -78 },
{ -72, -70, -68, -66, -64, -62, -60, -57, -54, -51, -49, -48, -49, -51, -55, -58, -60, -61, -61, -61, -60, -60, -61, -63, -66, -69, -72, -76, -78, -80, -81, -80, -79, -77, -76, -74, -72 },
{ -64, -62, -60, -59, -57, -55, -53, -50, -47, -44, -41, -41, -43, -47, -53, -58, -62, -65, -66, -65, -63, -62, -61, -63, -65, -68, -71, -73, -74, -74, -73, -72, -71, -70, -68, -66, -64 },
{ -55, -53, -51, -49, -46, -44, -42, -40, -37, -33, -30, -30, -34, -41, -48, -55, -60, -65, -67, -68, -66, -63, -61, -61, -62, -64, -65, -66, -66, -65, -64, -63, -62, -61, -59, -57, -55 },
{ -42, -40, -37, -35, -33, -30, -28, -25, -22, -18, -15, -16, -22, -31, -40, -48, -55, -59, -62, -63, -61, -58, -55, -53, -53, -54, -55, -55, -54, -53, -51, -51, -50, -49, -47, -45, -42 },
{ -25, -22, -20, -17, -15, -12, -10, -7, -3, 1, 3, 2, -5, -16, -27, -37, -44, -48, -50, -50, -48, -44, -41, -38, -38, -38, -39, -39, -38, -37, -36, -35, -35, -34, -31, -28, -25 },
{ -5, -2, 1, 3, 5, 8, 10, 13, 16, 20, 21, 19, 12, 2, -10, -20, -27, -30, -30, -29, -27, -23, -19, -17, -17, -17, -18, -18, -17, -16, -16, -16, -16, -15, -12, -9, -5 },
{ 15, 18, 21, 22, 24, 26, 29, 31, 34, 36, 37, 34, 28, 20, 10, 2, -3, -5, -5, -4, -2, 2, 5, 7, 8, 7, 7, 6, 7, 7, 7, 6, 5, 6, 8, 11, 15 },
{ 31, 34, 36, 38, 39, 41, 43, 46, 48, 49, 49, 46, 42, 36, 29, 24, 20, 19, 20, 21, 23, 25, 28, 30, 30, 30, 29, 29, 29, 29, 28, 27, 25, 25, 26, 28, 31 },
{ 43, 45, 47, 49, 51, 53, 55, 57, 58, 59, 59, 56, 53, 49, 45, 42, 40, 40, 40, 41, 43, 44, 46, 47, 47, 47, 47, 47, 47, 47, 46, 44, 42, 41, 40, 42, 43 },
{ 53, 54, 56, 57, 59, 61, 64, 66, 67, 68, 67, 65, 62, 60, 57, 55, 55, 54, 55, 56, 57, 58, 59, 59, 60, 60, 60, 60, 60, 60, 59, 57, 55, 53, 52, 52, 53 },
{ 62, 63, 64, 65, 67, 69, 71, 73, 75, 75, 74, 73, 70, 68, 67, 66, 65, 65, 65, 66, 66, 67, 68, 68, 69, 70, 70, 71, 71, 70, 69, 67, 65, 63, 62, 62, 62 },
{ 71, 71, 72, 73, 75, 77, 78, 80, 81, 81, 80, 79, 77, 76, 74, 73, 73, 73, 73, 73, 73, 74, 74, 75, 76, 77, 78, 78, 78, 78, 77, 75, 73, 72, 71, 71, 71 },
};

// Magnetic strength data in micro-Tesla or centi-Gauss
static constexpr const int8_t strength_table[LAT_DIM][LON_DIM] {
{ 62, 60, 58, 56, 54, 52, 49, 46, 43, 41, 38, 36, 34, 32, 31, 31, 30, 30, 30, 31, 33, 35, 38, 42, 46, 51, 55, 59, 62, 64, 66, 67, 67, 66, 65, 64, 62 },
{ 59, 56, 54, 52, 50, 47, 44, 41, 38, 35, 32, 29, 28, 27, 26, 26, 26, 25, 25, 26, 28, 30, 34, 39, 44, 49, 54, 58, 61, 64, 65, 66, 65, 64, 63, 61, 59 },
{ 54, 52, 49, 47, 45, 42, 40, 37, 34, 30, 27, 25, 24, 24, 24, 24, 24, 24, 24, 24, 25, 28, 32, 37, 42, 48, 52, 56, 59, 61, 62, 62, 62, 60, 59, 56, 54 },
{ 49, 47, 44, 42, 40, 37, 35, 33, 30, 28, 25, 23, 22, 23, 23, 24, 25, 25, 26, 26, 26, 28, 31, 36, 41, 46, 51, 54, 56, 57, 57, 57, 56, 55, 53, 51, 49 },
{ 43, 41, 39, 37, 35, 33, 32, 30, 28, 26, 25, 23, 23, 23, 24, 25, 26, 28, 29, 29, 29, 30, 32, 36, 40, 44, 48, 51, 52, 52, 51, 51, 50, 49, 47, 45, 43 },
{ 38, 36, 35, 33, 32, 31, 30, 29, 28, 27, 26, 25, 24, 24, 25, 26, 28, 30, 31, 32, 32, 32, 33, 35, 38, 42, 44, 46, 47, 46, 45, 45, 44, 43, 41, 40, 38 },
{ 34, 33, 32, 32, 31, 31, 31, 30, 30, 30, 29, 28, 27, 27, 27, 28, 29, 31, 32, 33, 33, 33, 34, 35, 37, 39, 41, 42, 43, 42, 41, 40, 39, 38, 36, 35, 34 },
{ 33, 33, 32, 32, 33, 33, 34, 34, 35, 35, 34, 33, 32, 31, 30, 30, 31, 32, 33, 34, 35, 35, 36, 37, 38, 40, 41, 42, 42, 41, 40, 39, 37, 36, 34, 33, 33 },
{ 34, 34, 34, 35, 36, 37, 39, 40, 41, 41, 40, 39, 37, 35, 35, 34, 35, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 45, 45, 43, 41, 39, 37, 35, 34, 34 },
{ 37, 37, 38, 39, 41, 42, 44, 46, 47, 47, 46, 45, 43, 41, 40, 39, 39, 40, 41, 41, 42, 43, 45, 46, 47, 48, 49, 50, 50, 50, 48, 46, 43, 41, 39, 38, 37 },
{ 42, 42, 43, 44, 46, 48, 50, 52, 53, 53, 52, 51, 49, 47, 45, 45, 44, 44, 45, 46, 46, 47, 48, 50, 51, 53, 54, 55, 56, 55, 54, 52, 49, 46, 44, 43, 42 },
{ 48, 48, 49, 50, 52, 53, 55, 56, 57, 57, 56, 55, 53, 51, 50, 49, 48, 48, 48, 49, 49, 50, 51, 53, 55, 56, 58, 59, 60, 60, 58, 56, 54, 52, 50, 49, 48 },
{ 54, 54, 54, 55, 56, 57, 58, 58, 59, 58, 58, 57, 56, 54, 53, 52, 51, 51, 51, 51, 52, 53, 54, 55, 57, 58, 60, 61, 62, 61, 61, 59, 58, 56, 55, 54, 54 },
};
10 changes: 5 additions & 5 deletions mathlib/mathlib.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,27 +57,27 @@

namespace math {
template <typename Type>
Type min(Type val1, Type val2) {
static constexpr Type min(Type val1, Type val2) {
return (val1 < val2) ? val1 : val2;
}

template <typename Type>
Type max(Type val1, Type val2) {
static constexpr Type max(Type val1, Type val2) {
return (val1 > val2) ? val1 : val2;
}

template <typename Type>
Type constrain(Type val, Type min, Type max) {
static constexpr Type constrain(Type val, Type min, Type max) {
return (val < min) ? min : ((val > max) ? max : val);
}

template <typename Type>
Type radians(Type degrees) {
static constexpr Type radians(Type degrees) {
return (degrees / Type(180)) * Type(M_PI);
}

template <typename Type>
Type degrees(Type radians) {
static constexpr Type degrees(Type radians) {
return (radians * Type(180)) / Type(M_PI);
}

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